Unmanned roadside signage vehicle system

ABSTRACT

There is provided an unmanned roadside signage vehicle comprising an autonomous, semiautonomous and/or remotely controllable roadside signage vehicle for various roadside signage, emergency response and maintenance applications. In accordance with one aspect, the unmanned roadside signage vehicle comprises drive motors operably coupled to driven wheels; steering coupled to the driven wheels; a controller for controlling the drive motors and steering; at least one electronic signage board for displaying roadside signage; and a data interface for receiving at least remote control instructions, the data interface operably coupled to the controller and wherein the controller is configured for controlling the drive motors and steering in accordance with the remote control instructions.

FIELD OF THE INVENTION

The present invention relates generally to roadside maintenancemachinery signage and in particular, but not necessarily entirely, to anunmanned roadside vehicle system for roadside signage and/ormaintenance.

BACKGROUND

Safety signage may, for example, be utilised for the purposes of warningmotorists of roadside grass cutting machinery.

In this regard, according to conventional arrangements, a maintenanceplan may be formulated for a grass cutting job, taking into accountvarious roadside factors including motorists speed.

Signage is then deployed in accordance with the maintenance plan whengrass cutting. Such usually involves the placement of static roadsidesigns warning motorists of the grass cutting machinery ahead, regulatingspeed and the like.

Placement of roadside signs has problems in that the roadside signageremain stationary while the grass cutter is moving. As such, it is notatypical for roadside signage to be kilometres away from the grasscutting machinery. Usually grass cutter operators place signage, cutalong one verge of the road and then cross over the road to return alongthe opposite verge, retrieving signage along the way.

To avoid the problems of stationery signage, marshalling vehicles may beemployed, such as utility vehicles leading and following the grasscutting machinery, the utility vehicles comprising appropriate signage.A problem with this approach however is the expense in running thesemarshalling vehicles, not only fuel equipment cost, but also man-hours.

Furthermore, deployment of roadside signage has inherent safety riskswherein those deploying roadside signage are exposed to risk of beingrun over by passing vehicles or affected by other roadside hazards suchas downed electrical power lines and the like.

It is to be understood that, if any prior art information is referred toherein, such reference does not constitute an admission that theinformation forms part of the common general knowledge in the art, inAustralia or any other country.

SUMMARY

According to one aspect, there is provided a system for autonomousbeyond line-of-sight roadside maintenance machinery signage, the systemcomprising a maintenance machine comprising a maintenance machinelocation sensor configured for determining a location of the maintenancemachine; at least one autonomous unmanned vehicle comprising drivemotors operably coupled to driven wheels; steering coupled to the drivenwheels; unmanned vehicle location sensor configured for determining alocation of the autonomous unmanned vehicle; a vision sensor subsystemfor determining at least a lateral offset of the autonomous unmannedvehicle with respect to a road verge wherein, in use, the system may beconfigured for: receiving unmanned vehicle formation configurationsettings for controlling the formation deployment of the unmannedvehicle with respect to the maintenance machine, the formationconfiguration settings comprising at least one of a route offsetconfiguration setting representing a distance between the unmannedvehicle and the maintenance machine in use; and a road verge lateraloffset configuration setting representing an offset distance of theunmanned vehicle from a road verge in use; receiving maintenance machinelocation data from the maintenance machine location sensor representinga location of the maintenance machine; receiving unmanned vehiclelocation data from the unmanned vehicle location sensor representing alocation of the unmanned vehicle; controlling the motors of the unmannedvehicle in accordance with the route offset configuration setting,maintenance machine location data and unmanned vehicle location data;receiving realtime road verge lateral offset data from the vision sensorsubsystem representing an realtime road verge lateral offset of theunmanned vehicle from the road verge; and controlling the steering inaccordance with the realtime road verge lateral offset data and the roadverge lateral offset configuration setting.

The system may be configured for controlling the motors of the unmannedvehicle further in accordance with an actual route.

The unmanned vehicle route offset configuration setting may be a leadingroute offset configuration setting such that the unmanned vehicle may beconfigured for leading the maintenance machine and wherein the actualroute may be a predetermined route.

The predetermined route may be obtained from a historical maintenanceroute.

The unmanned vehicle route offset configuration setting may be afollowing route offset configuration setting such that the unmannedvehicle may be configured for following the maintenance machine andwherein the actual route may be a waypoint route of the maintenancemachine.

The system may be configured for creating the waypoint route of themaintenance machine in accordance with periodic location data receivedfrom the maintenance machine location sensor.

The system may be configured for controlling the steering of theunmanned vehicle further in accordance with an actual route.

The unmanned vehicle route offset configuration setting may be afollowing route offset configuration setting such that the unmannedvehicle may be configured for following the maintenance machine andwherein the actual route may be a waypoint route of the maintenancemachine.

The system may be configured for generating an interpolated unmannedvehicle route in accordance with the waypoint route.

Generating the interpolated unmanned vehicle route may compriseidentifying portions of the waypoint route where the maintenance machinereverses to avoid an obstacle.

The vision sensor subsystem may be configured for determining the actuallateral offset of the autonomous unmanned vehicle with respect to a roadverge using image recognition.

The image recognition may be configured for recognising at least one ofa verge line, centre line, and roadside barrier.

The vision sensor subsystem may be configured for interpolating betweenbroken sections of the centre line.

The road verge lateral offset configuration setting may comprise atleast one of an on-road and off-road setting and an offset distance.

The unmanned vehicle further may comprise object avoidance capabilities.

The object avoidance capabilities may comprise the image subsystem usingimage recognition.

The image recognition may comprise recognising known roadside furniture.

The object avoidance capabilities may comprise the unmanned vehiclecomprising an object detector.

The object detector may comprise an object proximity sensor.

The object proximity sensor may comprise at least one of an ultrasonicand Lidar sensor.

The object detector may comprise a bump sensor.

The system may be configured for selecting the unmanned vehicleformation configuration settings in accordance with a maintenance planselection.

The maintenance machine may comprise a GUI configured for selecting themaintenance plan selection.

The maintenance machine may comprise a GUI configured for configurationthe unmanned vehicle formation configuration settings.

The unmanned vehicle further may comprise dynamic signage.

The system may be configured for controlling the dynamic signage.

The maintenance machine may comprise a GUI configured for controllingthe dynamic signage.

The GUI may comprise a sign selection control.

The GUI may comprise a selected sign configuration control.

The system may be configured for automating updates of the dynamicsignage.

The system may be configured for updating the dynamic signage inaccordance with a maintenance mode of operation of the maintenancemachine.

The maintenance mode of operation of the maintenance machine maycomprise at least one of stationery, travelling and operating.

The system may be configured for updating the dynamic signage inaccordance with a route offset distance representing the distancebetween the unmanned vehicle and the maintenance machine.

The unmanned vehicle may comprise stop/go signage and wherein the systemmay be configured for implementing single lane alternate traffic flowcontrol using the stop/go signage of the unmanned vehicle and anotherunmanned vehicle.

The unmanned vehicle may comprise a passing car counter and wherein thesystem may be further configured for controlling traffic flow inaccordance with count data received from the passing car counter.

The system may be configured for driving the drive motors when thestop/go signage displays go signage.

The system may be configured for halting the drive motors when thestop/go signage displays stop signage.

According to another aspect, there is provided an unmanned vehicle forroadside maintenance machinery fire management, the unmanned vehiclecomprising: a fire suppressant tank for storing fire suppressant; atleast one jet fluidly coupled to the tank for dispensing thesuppressant; a network interface for receiving control instructions datafrom a proximate maintenance machine and wherein, in use, the unmannedvehicle may be configured for: receiving fire suppressant instructionsfrom the maintenance machine and spraying fire suppressant from theleast one jet accordingly.

The unmanned vehicle further may comprise a fire detection subsystemconfigured for detection of a proximate fire.

The fire detection subsystem may be further configured for detection adirection of the fire.

The fire detection subsystem may be further configured for detection adistance of the fire.

The fire detection subsystem may be configured for sending a firedetection alert to the maintenance machine via the network interface.

The unmanned vehicle may be further configured to automate the sprayingof fire suppressant in accordance with the fire detection subsystemdetecting the fire.

The unmanned vehicle may be further configured to follow the fire.

The fire detection subsystem may comprise a thermometer for sensing heatfrom the fire.

The fire detection subsystem may comprise an IR sensor.

The unmanned vehicle may further comprise a vision sensor susbsystemcomprising a visible imaging camera and wherein, in use, the visionsensor susbsystem may be configured for sending visible imaging data viathe network interface to the maintenance machine.

The vision sensor susbsystem further may comprise a thermal imagingcamera and wherein, in use, the vision sensor susbsystem may beconfigured for sending thermal imaging data via the network interface tothe maintenance machine.

The at least one jet may be configured for providing a protective veilof the fire suppressant for protecting the unmanned vehicle from fire.

According to another aspect, there is provided an unmanned roadsidesignage vehicle comprising drive motors operably coupled to drivenwheels; steering coupled to the driven wheels; a controller forcontrolling the drive motors and steering; at least one electronicsignage board for displaying roadside signage; a data interface forreceiving at least remote control instructions, the data interfaceoperably coupled to the controller and wherein the controller isconfigured for controlling the drive motors and steering in accordancewith the remote control instructions.

The controller may be further configured for controlling the electronicsignage in accordance with the remote control instructions.

The unmanned roadside signage vehicle may further comprise a memorydevice comprising roadside signage data representing a plurality ofroadside signs and wherein the remote control instructions may comprisea selection of one of the plurality of roadside signs and wherein thecontroller may be configured for controlling the electronic signageboard to display the one of the plurality of roadside signs.

The vehicle may comprise a low profile vehicular body and wherein the atleast one electronic signage board may comprise a rearwardly facingelectronic signage board attached at a rearward position to thevehicular body and vertically orientated.

The rearwardly facing electronic signage board may comprise a widthbeing substantially the same or greater than that of the width of thevehicular body.

The rearwardly facing electronic signage board may comprise a heightgreater than the width of the electronic signage board.

The at least one electronic signage board further may comprise a forwardfacing electronic signage board.

The forward facing electronic signage board may be smaller than therearward facing electronic signage board.

The at least one electronic signage board may be configurable in adeployed configuration wherein the at least one electronic signage boardmay be vertically poised for displaying roadside signage and a stowedconfiguration.

The at least one electronic signage board may be detachable from thevehicular body.

The at least one electronic signage board may be pivotally coupled tothe vehicular body so as to lie across an upper surface of the vehicularbody when in the stowed configuration.

The low profile vehicular body may comprise a substantially horizontalupper surface transitioning rearwardly to an upwardly extending aspect.

The at least one electronic signage board may be fastened to therearward upwardly extending aspect.

The vehicle further may comprise a solar panel fastened to thesubstantially horizontal upper surface of the vehicular body.

The unmanned roadside signage vehicle may further comprise indicatorlights and wherein the controller may be configured for controlling theindicator lights.

The controller may be configured for controlling the indicator lights inaccordance with manoeuvres represented by the remote controlinstructions.

Other aspects of the invention are also disclosed.

BRIEF DESCRIPTION OF THE DRAWINGS

Notwithstanding any other forms which may fall within the scope of thepresent invention, preferred embodiments of the disclosure will now bedescribed, by way of example only, with reference to the accompanyingdrawings in which:

FIG. 1 shows a system for autonomous beyond line-of-sight roadsidemaintenance machinery signage in accordance with an embodiment of thepresent disclosure; and

FIGS. 2-10 show exemplary maintenance machinery and unmanned vehicleformations implemented by the system of FIG. 1 in accordance withembodiment of the present disclosure;

FIG. 11 shows the steering of the unmanned vehicle of FIG. 1 in furtherdetail in accordance with an embodiment of the present disclosure;

FIG. 12 shows an unmanned vehicle configured for roadside firemanagement in accordance with an embodiment of the present disclosure;and

FIG. 13 shows a front perspective view of an exemplary physicalembodiment of an unmanned vehicle;

FIG. 14 shows a side perspective view of the unmanned vehicle;

FIG. 15 shows a rear perspective view of the unmanned vehicle; and

FIG. 16 shows a rear elevation view of the unmanned vehicle.

DESCRIPTION OF EMBODIMENTS

For the purposes of promoting an understanding of the principles inaccordance with the disclosure, reference will now be made to theembodiments illustrated in the drawings and specific language will beused to describe the same. It will nevertheless be understood that nolimitation of the scope of the disclosure is thereby intended. Anyalterations and further modifications of the inventive featuresillustrated herein, and any additional applications of the principles ofthe disclosure as illustrated herein, which would normally occur to oneskilled in the relevant art and having possession of this disclosure,are to be considered within the scope of the disclosure.

Before the structures, systems and associated methods relating to theunmanned roadside signage vehicle system are disclosed and described, itis to be understood that this disclosure is not limited to theparticular configurations, process steps, and materials disclosed hereinas such may vary somewhat. It is also to be understood that theterminology employed herein is used for the purpose of describingparticular embodiments only and is not intended to be limiting since thescope of the disclosure will be limited only by the claims andequivalents thereof.

In describing and claiming the subject matter of the disclosure, thefollowing terminology will be used in accordance with the definitionsset out below.

It must be noted that, as used in this specification and the appendedclaims, the singular forms “a,” “an,” and “the” include plural referentsunless the context clearly dictates otherwise.

As used herein, the terms “comprising,” “including,” “containing,”“characterised by,” and grammatical equivalents thereof are inclusive oropen-ended terms that do not exclude additional, unrecited elements ormethod steps.

It should be noted in the following description that like or the samereference numerals in different embodiments denote the same or similarfeatures.

Unmanned Roadside Vehicle System

In the ensuing description, there will be provided various embodimentsincluding an embodiment wherein the system comprises autonomous orsemiautonomous unmanned roadside signage vehicles for autonomous orsemiautonomous beyond line-of-sight roadside maintenance machinerysignage. A further embodiment comprises an autonomous, semiautonomous orremote control unmanned roadside vehicle for fire suppression. A furtherembodiment comprises a remote control unmanned roadside vehicle. Otheraspects are also disclosed.

A system 1 for autonomous beyond line-of-sight roadside maintenancemachinery signage

Turning now to FIG. 1, there is shown a system 1 for autonomous beyondline-of-sight roadside maintenance machinery signage wherein, generally,the system 1 utilises at least one autonomous unmanned vehicleconfigured to lead or to follow roadside maintenance machinery so as towarn motorists of the maintenance machinery.

It should be noted that the term “autonomous” should not be construedliterally herein in that the unmanned vehicle is entirely autonomouswherein, certain operational aspects of the unmanned vehicle may behuman controlled including by remote control such that the unmannedvehicle is semiautonomous also.

Now, as can be seen, the system 1 comprises a maintenance machine 10. Inthe embodiments described herein, the maintenance machine 10 will bedescribed with reference to the preferred embodiment wherein themaintenance machine 10 is grass cutting machine.

Specifically, referring to FIG. 2, there is shown an exemplary roadsideformation comprising the maintenance machine 10 comprising a forwardlocated grass cutter 23, the subject of which is described inpublication in WO2015089588 entitled “A Vegetation Cutter”, the entirecontents of which is incorporated herein by reference.

However, it should be appreciated that the maintenance machinery 10 maybe any type of roadside maintenance machinery falling within thepurposive scope of the embodiments described herein.

As can be seen from FIG. 1, the maintenance machine 10 comprises alocation sensor 9 configured for determining the location of themaintenance machine 10. In the embodiments described herein, thelocation sensor is a GPS receiver 9.

Unmanned Vehicle 19

The system 1 further comprises the autonomous unmanned vehicle 19. Asalluded to above, the autonomous unmanned vehicle 19 comprises signage13 and is configured for leading or following the maintenance machine 10so as to warn motorists appropriately.

In a preferred embodiment, the unmanned vehicle 19 is a wheeled unmannedvehicle. In this manner, the unmanned vehicle 19 comprises drive motors11 operably coupled to driven wheels. Furthermore, the unmanned vehicle19 comprises steering 12 operably coupled to the driven wheels. In thismanner, the unmanned vehicle 19 is able to drive and steer.

In the embodiment shown in FIG. 11, the steering 12 may be able tocontrol both the forward and rearward wheels of the unmanned vehicle 19.

In a preferred embodiment, the unmanned vehicle is a battery-powereddevice such that the drive motors 11 are electric. Furthermore, thewheels may be all-terrain pneumatic tires configured for allowing thenegotiation of roadside terrain.

Furthermore, the autonomous unmanned vehicle 19 may be provided with alow centre of gravity, such as by locating the rechargeable batteries(which may be lithium or heavier lead acid type batteries) towards thebottom of the autonomous unmanned vehicle 19 so as to lower the centreof gravity of the unmanned vehicle 19. In this manner, the unmannedvehicle 19 may withstand windshear forces, especially from passingvehicles.

Furthermore, the autonomous unmanned vehicle 19 may be configured formotorists safety in the event of a vehicle collision. In this manner,the unmanned vehicle 19 may be low profile such that, in the event of acollision, the majority of the autonomous unmanned vehicle 19 would besubsumed beneath the vehicle. Furthermore, the autonomous unmannedvehicle 19 may be devoid of any heavy componentry located at height soas to prevent potential windscreen penetration during a collision.

As can be seen from FIG. 1, the unmanned vehicle 19 further comprises anunmanned vehicle location sensor 24, similarly configured fordetermining the location of the unmanned vehicle 19. Again, the locationsensor 24 may comprise a GPS receiver.

Unmanned Vehicle Formation Configuration Settings

Now, in use, the system 1 is configured for receiving unmanned vehicleformation configuration settings for controlling the formationdeployment of the unmanned vehicle 19 with respect to the maintenancemachine 10. In a preferred embodiment, the formation configurationsettings may comprise at least one of a route offset configurationsetting representing a distance between the unmanned vehicle 19 and themaintenance machine 10 in use and a road verge lateral offsetconfiguration setting representing an offset distance of the unmannedvehicle 19 from a road verge in use.

As such, in this manner, the unmanned vehicle 19 may be configured tolead or to follow the maintenance machine 10 at a particular distance,referred to herein as the route offset for convenience.

Furthermore, the lateral offset of the unmanned vehicle 19 with respectto the road verge is also configurable so as to control the lateraloffset of the unmanned vehicle 19. For example, it may be required thatthe unmanned vehicle 19 travel either on or off the road, road shoulderand the like. Furthermore, as is apparent from the embodiments describedherein, in embodiments and plurality of unmanned vehicles 19 may bedeployed. In this manner, the most rearward unmanned vehicle 19 maytravel off-road and comprising speed limitation signage so as to besuited for high-speed vehicles whereas the more forward located unmannedvehicles 19 may be configured to travel on-road.

Now, the system 1 is further configured for receiving maintenancemachine location data from the maintenance machine location sensor 9representing a location of the maintenance machine 10. In this way, thesystem 1 is configured for ascertaining the location of the maintenancemachine 10.

Furthermore, the system 1 is configured for receiving unmanned vehiclelocation data from the unmanned vehicle location sensor 24 representinga location of the unmanned vehicle 19. In this manner, the system 1 issimilarly configured for determining a location of the unmanned vehicle19.

Now, having the location of both the maintenance machine 10 and theautonomous unmanned vehicle 19 the system 1 is configured forcontrolling the motors 11 of the unmanned vehicle in accordance with theroute offset configuration setting, maintenance machine location dataand unmanned vehicle location data.

For example, the unmanned vehicle 19 may be configured, by theconfiguration settings, to travel 500 m behind the maintenance machine10. As such, were the system 1 to detect that the unmanned vehicle wasactually 505m behind the maintenance machine 10, the system 1 wouldincrease the speed of the drive motors 11 to decrement the distancebetween the unmanned vehicle 19 and the maintenance machine 10 and viceversa.

In embodiments, where the maintenance machine 10 to travel at a speedgreater than the maximum speed of the unmanned vehicle 19 such that theunmanned vehicle 19 fell behind the maintenance machine 10 beyond athreshold beyond the route offset, the autonomous unmanned vehicle 19may be configured for sending a notification message to the maintenancemachine 10 so as to alert the operator accordingly. Such notificationsmay be sent in other circumstances where the autonomous unmanned vehicle19 is unable to keep up with the maintenance machine 10 such as duringbattery depletion and the like.

Now, in addition to controlling the distance of the autonomous unmannedvehicle 19 behind or forward the maintenance machine 10, the system 1 isfurther configured for controlling the lateral offset of the unmannedvehicle 19 with respect to the road verge.

Vision Sensor Subsystem 15

Now, as can be seen from the embodiment described in FIG. 1, theautonomous unmanned vehicle 19, in embodiments, comprises a visionsensor subsystem 15 configured for the purposes of determining theactual lateral offset of the autonomous unmanned vehicle 19 with respectto the road verge. In general terms, the vision sensor subsystem 15 isconfigured to recognise the surroundings of the autonomous unmannedvehicle 19 so as to be able to calculate the actual lateral offset ofthe autonomous unmanned vehicle 19 with respect to the road verge.

As such, in this embodiment, the vision sensor subsystem 15 comprises animage capture device 16 adapted to capture image or video data of thesurrounds of the autonomous unmanned vehicle 19 for the subsequentprocessing as will be described in further detail below. In embodiments,the vision sensor subsystem 15 comprises side facing cameras so as toview sideways from the unmanned vehicle 19 at the road verge. In otherembodiments, the cameras may be forward-facing but wide angled so as tobe able to view the road verge and other indica at differing offsets.

The vision sensor subsystem 15 may further comprise a road vergerecognition module 17 configured for recognising the road verge inaccordance with image data from the image capture device 16.

The vision sensor subsystem 15 may further comprise an offsetdetermination module 18 configured for determining an offset of theautonomous unmanned vehicle 19 with respect to the recognised road vergeas is recognised by the recognition module 17.

There are a number of ways in which the vision sensor subsystem 15 mayrecognise a road verge.

In one embodiment, the vision sensor subsystem 15 may identify the edgeline marking of the road. Specifically, highway edges may be providedwith white or yellow line markings which may be utilised by the visionsensor subsystem 15 in accordance with an appropriate image recognitiontechnique, such as colour recognition and/or shape recognition.

In scenarios where no edge line markings are provided, such as on ruralroads or the like, the vision sensor subsystem 15 may recognise the roadcentreline. In this embodiment, the image capture device 16 may beorientated accordingly so as to be able to view the road centreline. Inthis embodiment the vision sensor subsystem 15 may be configured forrecognising differing road centre lines, such as including solid andbroken road centrelines. For broken road centre lines, the vision sensorsubsystem 15 may be configured for interpolating between sections of thebroken centreline.

In scenarios where no road line markings are provided, the vision sensorsubsystem 15 may be configured for determining the road verge in othermanners. In one manner, the vision sensor subsystem 15 may be configuredfor recognising the transition from the asphalt to gravel and a roadverge. Such recognition may be done utilising colour recognitiontechnique.

In embodiments, the image capture device 16 may additionally oralternatively capture infrared so as to be able to ascertain thediffering heat signatures between the usually darker road asphalt andthe lighter gravel edge.

In other embodiments the vision sensor subsystem 15 may be configuredfor recognising other roadside features such as roadside barriers andthe like.

In a preferred embodiment, for greater accuracy, the vision sensorsubsystem 15 may be configured for recognising the verge in accordancewith a combination of features, including those described above,including by employing weighting or fuzzy logic depending on thesignificance of the roadside indica. For example, the vision sensorsubsystem 15 may recognise the road verge in using the edge line markingalone should such be available and fall back to a combination ofcentreline marking and asphalt/gravel transition detection were edgeline marking is unavailable.

It should be noted that road verge detection may be performed in othermanners within the purposive scope of the embodiments described herein.For example, for regularly travelled road sections active or passivetransducers may be placed along the road verge for detection by theautonomous unmanned vehicle 19. Such transducers may comprise aradiofrequency resonance circuits configured for responding to afrequency emitted by a complimentary radiofrequency emitter located onthe autonomous unmanned vehicle 19. In further embodiments, proximitysensors, such as acoustic, laser or radiofrequency proximity sensors maymeasure the distance to the road verge such as to the roadside barrieror other detectable road verge indicative feature.

Turning now to FIG. 2, there is shown an exemplary formation.Specifically, as alluded to above, the formation comprises themaintenance machine 10, a leader unmanned vehicle 19 and two followerunmanned vehicles 19.

As can be appreciated from the exemplary formation, the unmannedvehicles 19 may be beyond the line-of-sight of the maintenance machine10. It is for this reason that the above described system methodologyutilises the location data as is received from the mentioned machinery10 and the unmanned vehicle 19 as opposed to vision, radar or rathertechnique.

Data Connectivity

As such, referring to FIG. 1, both the autonomous unmanned vehicle 19and the maintenance machine 10 may comprise a network interface 5configured for sending and receiving data, including for sendinglocation data representing their respective locations.

In embodiments, the network interface 5 may be a long-range networkinterface, such as a cellular network interface so as to be able to sendand receive data across several kilometres. Typically highways and thelike have sufficient cellular coverage so such a system may be suitablein these embodiments. For rural application where cellular coverage isintermittent other long-range radio communication may be employed.

In the embodiment shown in FIG. 1 the autonomous unmanned vehicle 19 andthe maintenance machine 10 may communicate with a server 2 connected tothe network 6. However, in rural applications where cellular coverage isunavailable the maintenance machine 10 may be configured forcommunicating directly with the autonomous unmanned vehicle 19 such asby comprising the suitable long-range radio data channel. In thisembodiment, the long-range radio data channel may be configured fortransmitting data across several kilometres so as to be suited forcommunicating with the unmanned vehicle 19 in a wide range of scenarios.In this embodiment, the maintenance machine 19 may comprise a radio datachannel connectivity status indicator so as to prompt the operator ofthe maintenance machine 10 should the autonomous unmanned vehicle 19fall out of data communication range.

In embodiments, the autonomous unmanned vehicle 19 and the maintenancemachine 10 may communicate using an 802.11 ad hoc Wi-Fi network.

Lead Unmanned Vehicle

Now, as can also be seen from FIG. 2, and as alluded to above, theformation may comprise an unmanned vehicle 19 configured for leading themaintenance machine 10. In this manner, the lead unmanned vehicle 19 maywarn of oncoming traffic.

In this embodiment, the lead unmanned vehicle 19 must rely only on theascertained locations of the maintenance machine 10 and the leadunmanned vehicle 19 and the determined lateral offset from the roadverge to travel. However, in embodiments, the control of the leadunmanned vehicle 19 may be complimented by route data which may havebeen ascertained from a previous maintenance along the route.

The route data may be utilised to complement and increase the accuracyof the lead unmanned vehicle 19. For example, and noting that GPSlocation data may be inaccurate to 10 m, being unsuitable fordetermining the lateral offset of the unmanned vehicle 19, thedetermined lateral offset of the unmanned vehicle 19 as ascertained bythe vision sensor subsystem 15 may be compared to the route data so asto, for example, flag and error should the route data and determineoffset from the road verge differ by greater than a threshold.

Following Unmanned Vehicle

As can be also seen from FIG. 2, the formation comprises two followingunmanned vehicles 19 configured for following the maintenance machine10. It should be noted that for data connectivity purposes, the unmannedvehicles may comprise data repeaters so as to allow for the repeating ofdata along a daisy chain of unmanned vehicles 19.

In this embodiment, the system 1 may generate a maintenance machinewaypoint route representing the actual route travelled by themaintenance machine 10 for enhancing the accuracy of the followingunmanned vehicles 19. Specifically, as the maintenance machine 10travels, at predetermined intervals, such as every second, the system 1may record the location of the maintenance machine 10 as ascertained bythe GPS receiver 9 of the maintenance machine 10 so as to create awaypoint route or “digital breadcrumb trail” of the routes travelled bythe maintenance machine 10.

In this embodiment, the follower unmanned vehicles 19 may compare thedetermined lateral offset from the vision sensor subsystem 15 with thegeneration waypoint route so as to be able to identify potentialinaccuracies of the compilations from the vision sensor subsystem 15.

In embodiments, the follower unmanned vehicles 19 may follow the digitalbreadcrumb route waypoint trail only given that such may be accurateenough to forgo the need for lateral roadside verge detection especiallywhere differential GPS techniques are utilised for overcoming selectiveavailability inaccuracies. In this embodiment, the system 1 may utilisedifferential GPS hardware.

Waypoint Route for Route Distance Calculation

Furthermore, the waypoint route generated in this manner may be utilisedfor the purposes of correctly positioning the route offset distance ofthe unmanned vehicle 19.

Specifically, as can be seen, the distance between the maintenancemachine 10 and the unmanned vehicle 19 immediately behind cannotaccurately be calculated using line-of-sight calculation using the GPSlocations of the maintenance machine 10 and the unmanned vehicle 19 onaccount of the maintenance machine 10 having travelled around a bend.

As such, in this embodiment, the system 1 is configured for calculatingthe appropriate route offset distance by taking into account the bend asis ascertainable from the waypoint route recorded by the system 1.

As alluded to above, for the lead unmanned vehicle 19, as the generateda waypoint route for the maintenance machine 10 may not be available,the system 1 may be required to utilise a predetermined waypoint route(which may have been recorded from a previous maintenance job) for thepurposes of correctly positioning the forward route offset distance ofthe lead unmanned vehicle 19.

Object Avoidance

In embodiments, the unmanned vehicles 19 may be configured with objectavoidance capabilities so as to, for example, be able to avoid roadsideposts when following a maintenance machine 10.

In one embodiment, the vision sensor subsystem 15 may be provided withan obstacle detector model 22 for the purposes of visually ascertainingobstacles ahead. For example, the vision sensor subsystem 15 mayvisually identify forward located roadside obstacles, such as road postand the like so as to be able to adjust the path travelled by theunmanned vehicle 19 so as to avoid the obstacle.

In embodiments, as opposed to utilising vision recognition technique forthe purposes of identifying forward located obstacles, the autonomousunmanned vehicle 19 may comprise other object sensing technique, such asproximity base sensors, such as ultrasonic sensors, Lidar laser sensorsand the like. In embodiments, additionally or alternatively, theautonomous unmanned vehicle 19 may comprise a bump sensor to detect ifthe autonomous unmanned vehicle 19 bumps into an object. If so, theautonomous unmanned vehicle 19 may be configured to reverse a distanceand alter course.

In embodiments, the above-described waypoint route may be utilised forobject avoidance. For example, where the maintenance machine 10 drivesforward to cut the grass around a post and then subsequently reverses soas to take a path around the post, the system 1 may recognise thereversing portion of the route so as to be able to interpolate afollowing route for the following autonomous unmanned vehicle 19 takinginto account the reversal of the maintenance machine 10 and the drivingaround the obstacle. As such, for portions of the waypoint route forwhich the maintenance machine 10 has reversed, the system 1 mayinterpolate a route to avoid the reversal portion so as to join the nextforward travel portion of the route of the waypoint machine 10.

In embodiments, the system 1 may control unmanned vehicles 19 to avoidobstacles such as wherein, for example, a cow steps into the pathpreviously taken by the maintenance machine 10 such that when the carwas detected by the object detection subsystem of the unmanned vehicle19, the system 1 may plant a new route around the obstacle.

Maintenance Plan Formation Control

As alluded to above, roadside grass cutting and other routes andmaintenance is often times performed in accordance with a maintenanceplan. The maintenance plan takes into account roadside conditions suchas the speed of vehicles and the like. For example, for roadside grasscutting on the highway, the maintenance plan may require that amaintenance machine 10 comprises a most rearward unmanned vehicle 19driven off-road comprising speed limiting signage to reduce the speed ofmotorist from 110 km/h to 60 km/h and then a subsequent on road unmannedvehicle 19 comprising further warning signage. Such roadside maintenanceplan may differ from a rural road for example, having differing speedconditions, being dual carriageway and the like.

As such, in embodiments, the maintenance machine 10 may comprise agraphical user interface 25 operable by the operator to control theformation control of the unmanned vehicles 19. Such interface 25 may beprovided by way of a portable computing device have an appropriatedisplay.

As such, utilising the formation control 26 of the interface 25, theoperator may configure, such as by selecting from appropriate drop-downfields specifying the type of highway, type of maintenance and the like,a particular type of maintenance such that the appropriate formation maybe selected by the system 1.

It should be noted that the graphical user interface may comprise ahigher level of abstraction allowing the operator to simply nominate thetype of maintenance being performed such that the system 1 ascertainsthe appropriate formation control in accordance with an maintenance planor alternatively the operator may specify the type of formation, such asby individually selecting each unmanned vehicle, configuring the routeoffset distance (either rearward or forward) and configuring the lateraloffset from the road verge.

In embodiments, the maintenance plan 20 may be ascertained from a localdatabase 21, especially advantageous were the maintenance machine 10 isout of data connectivity from the central server 2. However, in theembodiments where the maintenance machine 10 is within data range of theserver 2, the maintenance plan may be downloaded from a maintenance plantable 4 of a database 3 located on the server 2.

Operational mode Formation Control

The formation of the unmanned vehicles 19 may be further configured inaccordance with an operational mode. For example, during grass cuttingmode the unmanned vehicles 19 may take the configuration assubstantially shown in FIG. 2.

However, when grass cutting is no longer being performed and themaintenance machine is required to return to a depot, the unmannedvehicles in the 19 may be configured to take the close-in followingformation as substantially shown in FIG. 7. As such, once havingperformed appropriate cutting, the operator may control the formationcontrol 26 to specify that the maintenance machine 10 is no longer ingrass cutting mode such that the unmanned vehicles 19 automaticallytravel up to and closely follow the maintenance machine.

In embodiments, and so as to avoid having to travel in close formation,the following unmanned vehicles in 19 may be physically coupled togethersuch as shown in the embodiment shown in FIG. 8.

In one embodiment, once having cut the verge of a road, the maintenancemachine 10 may wish to cross over to cut the other verge. In thisembodiment the unmanned vehicles in 19 may be configured to take theclose-in following formation as substantially shown in FIG. 7 so as toallow the maintenance machine 10 to cross the road. However, in otherembodiments the unmanned vehicles 19 may be configured for autonomouslycrossing the road.

For example, at a relatively safe stretch with no vehicles in sight, theoperator may instruct the unmanned vehicles 19 to cross over to theother side of the road so as to be able to resume operational in theopposite direction. In embodiments, the unmanned vehicles 19 maycomprise vehicle detection means, such as a radar or vision detectionmeans so as to ascertain when the road is clear to cross.

In embodiments, vehicle detection means may be utilised for the purposesof alerting the operator of the maintenance machinery of oncomingvehicles. For example, for a rearward or forward located unmannedvehicle 19, should the unmanned vehicle 19 detect a passing vehicle, adata signal may be sent to the maintenance machine 10 to display, usingthe graphical user interface 25 an indication of a forward or rearwardapproaching vehicle.

Signage

As alluded to above, the unmanned vehicles 19 are configured fordisplaying appropriate signage. Different types of signage may beemployed within the purposive scope of the embodiments described herein.

For example, in one embodiment, the autonomous unmanned vehicle 19 maycomprise a set physical sign, such as a speed limitation sign and otherwarning signs, such as, for example, warning motorists to slow down to80 km/h as road cutting machinery is ahead. In embodiments, the signagemay be interchangeable so as to allow for differing signage to bedisplayed. Such may be done manually, such as by interchanging signs, orwhere a mechanical arrangement is configured to raise and lower orscroll differing physical signs.

However, in a preferred embodiment, the signage 13 of the unmannedvehicle 19 is electronic such as by comprising a high visibility colourLED display device. In this manner, many different types of signs may bedisplayed depending on the application.

For example, the LED display device may be configured for displaying ared and white speed limiting sign or a yellow warning sign or acombination of both.

In a preferred embodiment, the signage 13 is dynamically controllable bythe system 1.

In one embodiment, the signage 30 may be configured to display the routedistance between the maintenance machine 10 and the unmanned vehicle 19.For example, the unmanned vehicle 19 may display a sign saying“Warning—grass cutting machine 470 m ahead”. In this embodiment, thesignage is automatically controlled by the system 1.

In embodiments, the signage may display various operational modes of themaintenance machine 10, such as indicating to motorists whether thegrass cutting machinery is currently cutting, whether the grass cuttingmachinery is stationary, whether the grass cutting machinery isperforming a U-turn or the like. Again, such signage may beautomatically displayed by the system 1 without operator intervention.

However, in embodiment also, the operator of the maintenance machine 10may configure the signage accordingly. As such, the graphical userinterface 25 may further comprise a signage control 27 allowing theoperator to specify the appropriate signage. The signage control 27 mayfor example, comprise a plurality of drop-down fields allowing theoperator to select the type of signage to control. Furthermore, inembodiments, the signage control 27 may allow the configuration of eachtype of sign such as to, for example, allow the operator to select aspeed limiting signage and subsequently set the speed limit.

Again, the signage control may be specified specifically by the operatoror alternatively controlled in accordance with the maintenance plan 20.

Single Lane Traffic Control

In embodiments, the unmanned vehicles 19 may be configured for trafficcontrol. Specifically, reference is made to FIG. 6 showing anapplication for use of the system 1 on a dual carriage road wherein theunmanned vehicles 19 are required to close the lane adjacent themaintenance machine 10.

In this embodiment, the unmanned vehicles 19 may comprise speed controlsignage, such as a red and green lights indicating to motorist whetherthe motorists must stop or go.

For example, in a first mode of operation in this embodiment theunmanned vehicles 19 may cooperate to allow oncoming traffic to flow. Inthis embodiment, the forward unmanned vehicle 19 may comprise a greenlight indicating to motorists to travel ahead whereas the rearwardunmanned vehicle 19 comprises a red sign indicating to motorist to stop.

Furthermore, in this embodiment, the unmanned vehicle 19 displaying thestop sign may be stationary whereas the unmanned vehicle 19 comprisingthe green sign may travel so as to allow the unmanned vehicles 19 toalternatively “leapfrog” to keep up with the maintenance machine 10.

In further embodiments, the unmanned vehicles 19 are configured forcounting the passing cars so as to be able to switch lanes in a mannernegating the need for a predetermined delay which may cause trafficcongestion.

For example, in the mode of operation allowing the oncoming traffic toflow the forward unmanned vehicle 19 displaying the green light make onthe number of cars passing by so as to, for example, count that 5 carshave passed prior to displaying the red light. Furthermore, the rearwardunmanned vehicle 19 displaying the red light may count the number ofcars passing so as to be able to immediately display the green lightonce the fifth car has passed. In embodiments, to account formiscounting the system 1 may implement a timer override.

Now, in a second mode of operation each unmanned vehicles 19 cooperateto allow the rearward traffic to flow. In this mode of operation, therearward unmanned vehicle 19 displays the green light allowing therearward traffic to flow whereas the forward unmanned vehicle 19displays a red light to hold the oncoming traffic.

Exemplary Formations

Various exemplary formations will now be discussed in turn withreference to the exemplary formations shown in FIGS. 2-10.

Specifically, referring to FIG. 2, there is shown an exemplary formationcomprising the maintenance machine 10, a single lead unmanned vehicle 19and two follower unmanned vehicles in 19. As can be seen, in thisembodiment, the unmanned vehicles 19 are configured for driving off-roadthat is, beyond the verge of the road as determined by the vision sensorsubsystems dual 15 of the unmanned vehicles 19.

However, in embodiments, the lateral offsets of certain of the unmannedvehicles 19 may be configured differently. Specifically, turning to FIG.3, there is shown the leading and most rearward unmanned vehicle 19being laterally offset towards the road so as to travel on road. Inembodiments, the system 1 may be configured so as to be able toconfigure the unmanned vehicles 19 to drive on road or off-road,including the distances thereon, such as 2 m on-road, 5 m off-road andthe like.

FIG. 4 shows the application of the system 1 for use on highwayswherein, as can be seen the highway comprises two dual lane roads forrespective directions of traffic. In the embodiment shown, themaintenance machine 10 is cutting grass along the direction of travel ofa first lane wherein 3 unmanned vehicles are deployed for signagepurposes comprising two trailing unmanned vehicles 19 and one leadingunmanned vehicle 19.

In this embodiment, the rearward unmanned vehicles 19 may comprise speedlimitation signage whereas the leading unmanned vehicle 19 may comprisespeed limit resumption signage.

FIG. 5 shows a differing application of the system 1 as compare to FIG.4 wherein, as can be seen, the system 1 is employed for dual carriagewayroads comprising a shared road having lanes in opposite directions. Inthis embodiment, as can be seen, the unmanned vehicles will 19 areconfigured for off-road driving.

FIG. 6 shows a further application on dual carriageway roads wherein, ascan be seen, the leading 19 and most rearward following unmanned vehicle19 are configured for on road driving whereas the most proximatefollowing unmanned vehicle 19 to the working machine 10 is configuredfor off-road driving.

As alluded to above, FIG. 7 shows a nonworking mode configuration ininstances, such as, for example wherein the maintenance machinery 10 isnot performing maintenance such as wherein the maintenance machinery 10is a grass cutter and is travelling on or from site. In this embodiment,the unmanned vehicles 19 have been configured to closely follow themaintenance machinery.

Similarly, as alluded to above for 8 shows the physical couplingtogether of the unmanned vehicles 19 to suit the transportation of theunmanned vehicles 19 without the unmanned vehicles 19 necessarily havingto be operational, depleting their batteries and the like.

FIG. 9 shows a formation wherein the unmanned vehicles 19 are deployedin close leading configuration. In this embodiment, the leading unmannedvehicles 19 may be configured to follow a predetermined route in frontof the maintenance machine 10.

It should be noted that in this close-knit formations the unmannedvehicles 19 may rely on additional navigational aids as opposed to theabove described GPS and lateral offset vision sensor subsystems. Forexample, the unmanned vehicles 19 may rely on light or laser guidancereflecting from the property located reflectors of the maintenancemachinery 10 or adjacent unmanned vehicles 19 for further enhancing theaccuracy of the formation.

As such, for the example shown in FIG. 9, utilising these additionalnavigational aids, the unmanned vehicles 19 may steer in accordance withthe orientation of the maintenance machine 10, such that, when themaintenance machine 10 turns, the unmanned vehicles 19 are able to steeraccordingly in utilising the additional navigational aid.

For the 10 shows a further close-knit configuration wherein, as can beseen, in addition to the leading and trailing unmanned vehicle 19, theformation further comprises an off-road lateral unmanned vehicle 19.

Fire Management

In the above embodiments, whereas the system 1 was described primarilywith reference for roadside signage, in embodiments, the system 1 hasapplication for fire management also.

Specifically, in embodiments, maintenance machinery may encounterbushfires, including those sparked by the maintenance machinery itself,such as during the grass cutting process. As such, as opposed to theconventional arrangement of the machinery operator having to manuallyutilise a fire extinguisher or the like in an attempt to suppress thefire, there will now be described an embodiment wherein the system 1utilises the autonomous unmanned vehicles 19 for fire management.

It should be noted that the fire management functionality as isdescribed herein may be used in addition to the road signagefunctionality described above or as an alternative thereto. In otherwords, the fire management functionality in accordance with thisembodiment may be utilised to complement the roadside signagefunctionality or utilises a stand-alone application wherein signage isnot employed.

As such, turning now to FIG. 12, there is shown an embodiment whereinthe autonomous unmanned vehicle 19 has fire management capabilities.

As can be seen, the autonomous unmanned vehicle 19 in this embodimentcomprises a fire suppressant tank 28 for the purposes of storing firesuppressant. Differing types of fire suppressant may be employeddepending on the particular application such as water, foam, powderedchemicals and the like. However, in a preferred embodiment, water ispreferred given its relative availability and cost considerations. Thefire suppressant tank 28 may comprise sufficient volume for being ableto manage fire for a suitable period of time. In one embodiment, thefire suppressant tank 28 may be a 1000 L water tank.

The unmanned vehicle 19 may further comprise a level sensor 29 operablycoupled to the fire suppressant tank 28 for determining the level of thetank 28.

In an embodiment, the unmanned vehicle 19 may report the level of thetank 28 via the network interface 5 to the maintenance machine 10 orserver 2 such that the tank 28 may be refilled if necessary.

The unmanned vehicle 19 further comprises at least one jet 30 for thepurposes of spraying fire suppressant from the fire suppressant tank 28.

In one environment, the at least one jet 30 may be configured for thepurposes of protecting the unmanned vehicle 19. For example, were themaintenance machine to spark a bushfire, rather than having thebushfires sweep across and destroy the attendant unmanned vehicles 19,each attendant unmanned vehicle 19 may operate the jets 30 to create aprotective veil of water so as to allow the fire to pass the unmannedvehicles 19 safely.

However, in a preferred, the unmanned vehicles 19 are used for firefighting.

In one embodiment, the autonomous unmanned vehicle 19 is configured forreceiving fires suppressing control instructions from the maintenancemachine 10 via the network interface 5 and spraying fire suppressantfrom the at least one jet 30 accordingly. As such, in the event of afire, the maintenance machine 10 operator may remotely control theautonomous unmanned vehicle 19 for fire fighting.

For example, the graphical user interface 25, or other manual control orthe like may comprise controls allowing the operator to control theautonomous unmanned vehicle 19 to fight the fire. In the embodimentdescribed above wherein the autonomous unmanned vehicle 19 is inmaintenance machine 10 following mode, during the event of a fire, theoperator may take over the control of the unmanned vehicle 19 for firefighting.

In embodiments, the operator may control the spraying of firesuppressant from the jets 30 which may include controlling thevolumetric flow rate of fire suppressant. Furthermore, in an embodiment,the jets 30 may be directional jets such that the operator may controlnot only the lateral angle but also the elevation angle of the jets 30so as to be able to target fires at differing distances and directionswith respect to the unmanned vehicle 19. Yet further, where more thanone jet 30 is provided, the operator may configure which jets 30 are tobe actuated, so as to be able to so as to, for example, actuate jets onthe right-hand side of the unmanned vehicle 19 to target a fire on theright of the unmanned vehicle 19.

While controlling the unmanned vehicle 19 for fire management theoperator may also control the motors 11 and the steering 12 so as toposition the unmanned vehicle 19 appropriately. Also, with signage 13 isemployed, the signage 13 may be updated to warn motorists of theproximate fire.

In an embodiment, the unmanned vehicle 19 may comprise a fire detectionsubsystem 31. The fire detection subsystem 31 is configured fordetecting a fire in use, primarily through the heat signature of thefire. In this manner, the fire detection system 31 may comprise athermometer 33 for detecting a fire upon contact or an infrared sensor32 for detecting infrared radiation for detecting fire at a distance.

In this embodiment, the fire detection subsystem 31 may be configuredfor sending a fire detection alert to the maintenance machine via thenetwork interface 5. Specifically, during roadside maintenance, a firemay occur behind the maintenance machine 10, thereby going unnoticed tothe operator thereof. As such, by receiving an alert from an unmannedvehicle 19 behind the maintenance machine 10 the operator may be alertedin good time so as to be able to take appropriate action before the firespreads.

In embodiments, so as to assist the operator of the maintenance machine10 in managing the fire, the vision subsystem 15 may comprise a visibleimaging camera 17 or a thermal imaging camera 34 so as to be able tosend visible or thermal imaging data via the network interface 5 to themaintenance machine 10 for display by the operator. The thermal imagingis especially advantageous where visible imaging is obscured by smoke.

As opposed to the unmanned vehicle 19 being controlled by themaintenance machine 10 for fire fighting and management, in embodiments,the unmanned vehicle 19 may be configured for taking action in anautomated manner upon detecting a fire. As such, upon the fire detectionsubsystem 31 detecting a fire, the unmanned vehicle 19 may be configuredto automate the spraying of fire suppressant from the jets 30accordingly.

For example, the infrared sensors 32 may be configured to sense infraredradiation around the entire periphery of the unmanned vehicle 19 suchthat, should the infrared sensors 30 detect infrared radiation exceedinga predetermined threshold from a particular direction, the unmannedvehicle 19 may actuate the jets 30 pointing in that direction so as toretard the fire accordingly. Where the fire detection subsystem 31 isconfigured for determining a distance to the fire also, the unmannedvehicle 30 may further configure the jets such as by controlling theoutput volumetric flow rate or the elevation angle so as to reach thefire at the distance determined.

In an embodiment, the unmanned vehicle 19 may be configured to enter afire following and suppression mode wherein, upon detection of the fire,the unmanned vehicle 19 is configured for following the fire whilespraying suppressant to retard the flames. Specifically, were theunmanned vehicle 19 operating in following mode and detect a grass fireor the like, the unmanned vehicle 19 may automatically enter a firefollowing and suppression mode wherein the unmanned vehicle 19approaches the fire front (and may also initiate the above describedprotective veil to protect the unmanned vehicle 19) and wherein, when atthe fire front, the unmanned vehicle 19 may spray fire suppressant 28via the jets 30 from the fire suppressant tank 28. As the fire issuppressed along the fire front, the unmanned vehicle may work along theline of the fire front until such time that the fire is extinguished. Inembodiments, where two unmanned vehicles 19 available, the unmannedvehicles 19 may communicate via the network interface such that oneunmanned vehicles follows in one direction along the fire front whilethe other unmanned vehicle 19 follows in the opposite direction alongthe fire front.

Pedestrian Maintenance

Whereas in the above embodiments has been described roadside maintenanceutilising maintenance machinery 10 such as tractors, vehicles and thelike, it should be noted that in embodiments the system 1 may be equallyapplicable for pedestrian maintenance wherein, for example, councilworkers and the like may walk along a road verge manually sprayingweedkiller from a backpack device or the like. In this embodiment,signage unmanned vehicles 19 may similarly be employed to warnapproaching motorists of the pedestrian maintenance workers.

In this embodiment, the maintenance workers may carry a small formfactor computer device comprising the features and functionalitydescribed above which, in environments may take the form of a tabletcomputer device or the like comprising the GPS 9, network interface 5and other functionality for the purposes of implementing thefunctionality described herein.

Exemplary Physical Embodiment

Turning now to FIG. 13-16, there is shown an exemplary physicalembodiment of the unmanned vehicle 19 in accordance with one particularaspect. As can be seen, the unmanned vehicle 19 comprises a low profilevehicular body having rearward located signage 13.

Specifically, FIGS. 15 and 16 show rear views of the unmanned vehicle 19wherein, as can be seen, the signage 19 comprises a rearwardly facinglarge signage board 36 which, in a preferred embodiment is an electronicsignage board so as to be able to display dynamic road signageinformation depending on the required application. As can be seen, thesignage board 36 is large, occupying substantially the entire width ofthe vehicular body and having a greater height than width so as tomaximise the signage area.

A hazard light 37 may be provided atop the signage 13.

Furthermore, the signage 36 extends substantially towards the lowerextent of the chassis of the unmanned vehicle 19 such that the signageboard 36 is not obscured from view by the body of the unmanned vehicle19.

As such, the signage board 36 is well-suited for road signageapplications requiring large roadside signage so as to, for example, beadequately visible by motorists while far off or travelling at highspeed.

The location of the rear signage board 36 may lie atop a rear bumper ofthe unmanned vehicle 19 exposing a license plate if required andindicator lights 44. During the operation of the unmanned vehicle 19,whether in autonomous, semiautonomous or remote control modes, theindicator lights 44 may display appropriate indications such asilluminating brake, reversing and indicator lights depending on themanoeuvres being performed by the unmanned vehicle 19.

Furthermore, the low-profile vehicular body of the unmanned vehicle 19provides suitable support for the large rear signage board 36 so as tosubstantially prevent the signage for 36 from being blown over in highwinds or buffeted by passing vehicles.

In a further preferred embodiment, the unmanned vehicle 19 may comprisea forward facing electronic signage board 35 in the location shown. Ascan be seen, the forward electronic signage board 35 is smaller thanthat of the rear signage board 36 yet while is suitably elevated so asto be able to display signage for oncoming motorists.

In embodiment, the signage boards 35, 36 may be detachable so as toassist in the transportation of the unmanned vehicle 19 so as to, forexample, allow the unmanned vehicle 19 to be transported to site bytrailer. In this regard, the signage boards 35, 36 may compriseappropriate mechanical and electrical connections so as to allow for theselective attachment of the signage boards 35, 36 as needs be. Infurther embodiments, and whereas the vehicular body of the unmannedvehicle 19 is shown comprising a raised rearward aspect, in embodiments,the signage boards 35, 36 may be pivotally coupled to the vehicular bodyso as to be able to lie flat across the upper surface of the vehicularbody for stowage.

Referring to FIG. 13, the front of the unmanned vehicle 19 may comprisea strip of sensors 38 such as those relating to the aforedescribedvision sensors subsystem 15 or other proximity sensors subsystem.Furthermore, the front of the unmanned vehicle 19 may compriseheadlights 39 and/or indicator lights.

In embodiments, the upper surface of the unmanned vehicle 19 may beprovided with a solar panel 40 battery recharging purposes.

FIG. 14 shows a side view of the unmanned vehicle 19 wherein, inembodiments, a number of ports are provided such as wherein the unmannedvehicle 19 comprises a battery port 42 allowing for the interchange ofelectronic batteries such as when required for recharging.Alternatively, the Porter 42 may be configured for storing fireretardant or the like wherein the unmanned vehicle 19 is utilised forfire suppression in the manner described above.

Further ports 41 may be provided for electrical componentry such as forsensors subsystems, such as side facing proximity sensor and/or imagecapture devices.

Furthermore, the unmanned vehicle 19 may further comprise side facingsensors 43 and/or indicator lights 43.

Remote Control Operational Mode

In a particular embodiment, and whereas the aforedescribed embodimentshave comprised autonomous and semiautonomous modes of operations, theunmanned vehicle 19 may be operated in a remote control operationalmode. Specifically, and as alluded to above, certain roadside situationsare hazardous exposing roadside personnel to safety hazards includingbeing struck by passing vehicles and the like while performing variousmaintenance tasks such as deploying roadside signage.

As such, in lieu of manually performing such roadside maintenance, suchas placing roadside signage, the unmanned vehicle 19 in remote controlmode may be remotely controlled by the operator accordingly.

In this particularly embodiment, the remotely controlled unmannedvehicle 19 may take the physical embodiment as a substantially shown inFIGS. 13-16. As such, for example, for emergency personnel attending aroadside accident, the unmanned vehicle 19 may be brought on site bytrailer and then unloaded for deployment. For example, for a vehiclecrash on a highway, a police vehicle, ambulance or the like may attendthe scene of the accident wherein the police vehicle tows a trailercomprising one or more of the remotely controllable unmanned vehicles19. Then, so as to secure the scene, the unmanned vehicle 19 would beunloaded from the trailer, such as by being driven from a ramp.

Thereafter, the unmanned vehicle 19 may be manoeuvred to an appropriatedeployment point and appropriate signage displayed so as to secure thescene of the accident. For example, a first responder policeman maydeploy the unmanned vehicle 19 500 m down the highway in advance of theaccident so as to warn motorists accordingly. In this regard, byutilising the remotely controllable unmanned vehicle 19, the policemanneed not manually deploy roadside signage, thereby reducing the risk ofbeing struck by vehicles travelling at speed.

The policeman may be provided with an appropriate remote control forremotely controlling the unmanned vehicle 19.

The remote control may allow the operator to control the drive andsteering of the wheels so as to be able to control, for example, leftand right hand turns, forward and backward manoeuvres. When controllingthe unmanned vehicle 19 in such a manner, the indicator lights 44 may becontrolled automatically such that, when, for example, when reversingthe unmanned vehicle 19 down the highway, the reverse lights and orhazard lights 44 are illuminated appropriately.

In embodiments, the remote control may comprise a digital display fordisplaying information relevant to the location of the vehicle 19 so asto allow the operator to appropriately locate the vehicle 19. Forexample, in one embodiment, the vehicle 19 may comprise at least onevideocamera so as to allow the operator to view a substantial real-timevideo data from the remote control such that, when, for example, whenreversing the vehicle 19 down the highway, the operator need notnecessarily keep sight of the vehicle in lieu of rather focusing on thedigital display of the remote control so as to, for example, ensure thatthe vehicle 19 stays within the lane.

In further embodiments, a map representation may be displayed by theremote control representing the respective geographic locations of theoperator and the vehicle 19. Such a representation may be augmented withmap data such as that which may be retrieved from a GIS server such asGoogle Maps or the like. As such, for a bend in a highway, the maprepresentation would show such a bend retrieved from Google Maps andshow the respective locations of the operator and the unmanned vehicle19 so as to further allow for the appropriate location of the unmannedvehicle 19.

In embodiments, the remote control may be utilised for controlling thesignage also. For example, for the illustrative example of the highwayaccident, the operator may choose appropriate signage representing, forexample, “accident ahead”. In further embodiments, the operator maydynamically control the signage displayed, such as by representing“accident 400 m ahead”.

In embodiments, the sign displayed by the signage board 36 may bedynamically updated by the unmanned vehicle 19 wherein, for example, asthe unmanned vehicle 19 travels down the highway, the unmanned vehicle19 measures the distance so as to be able to dynamically display thedistance on the signage board wherein, for example, when the vehicle 19is 50 m away from the operator the signage board 36 may represent“Accident 50 m ahead” whereas, when 150 m away from the operator, thesignage board 36 may represent “Accident 150 m ahead” and so on and soforth.

In embodiments, the unmanned vehicle 19 may comprise a controllercomprising a memory comprising signage data representing a plurality ofroadside signs. As such, the signage displayed by the signboard 36 maybe retrieved from the memory device. In alternative embodiments, thesignage data for display by the signboard 36 may be conveyed to theunmanned vehicle 19 across the data interface.

In one embodiment, the remote control may comprise a softwareapplication executing on a mobile communication device such as asmartphone device or the like. In this manner, the software applicationwould be downloaded to the mobile communication device so as to allowthe mobile communication device to control the functionality of theunmanned vehicle 19. For example, the operator may download a softwareapplication to an Apple iPhone device or the like wherein the AppleiPhone comprises the requisite digital display, data connectivity anduser interface functionality. For data connectivity, the mobilecommunication device may communicate across the cellular data networkvia a server. Alternatively, the mobile communication device maycommunicate directly with the unmanned vehicle 19 such as by utilisingBluetooth, range permitting or alternatively utilising longer rangeWi-Fi or Wi-Fi direct. In further embodiments, longer range RF may beutilised wherein an RF interface is plugged into the mobilecommunication device, such as via the USB port, so as to allow forlonger range direct communication, such as in rural environments.

The user interface displayed by the software application may display theaforedescribed real-time video data captured by the videocameras of theunmanned vehicle 19, the map representation showing the relative offsetsof the unmanned vehicle 19 from the operator and other controlinformation such as allowing the operator to control the drive anddirection of the unmanned vehicle 19 and also the electronic signagedisplayed, including the dynamic configuration of the electronic signagedisplayed.

It should be noted that differing aspects of the unmanned vehicle 19 maybe remotely controlled such as wherein, for example, the unmannedvehicle 19 is substantially entirely remote-controlled wherein, forexample, the operator may control all of the drive, steering and signageof the unmanned vehicle 19.

However, in alternative embodiments, the unmanned vehicle 19 may be atleast semiautonomous wherein, for example, when attending the accidentscene, the operator may control the unmanned vehicle with an instructionthat an accident has occurred and that the unmanned vehicle 19 shoulddeploy 500 m down the highway to warn motorists. As such, the unmannedvehicle 19 would then drive from the trailer automatically and continuedown the road navigating in a particular lane appropriately or adjacentthe roadside verge such as by utilising the vision sensor subsystem orother location sensing subsystems until such time that the unmannedvehicle 19 is appropriately deployed.

Thereafter, once the accident has been cleared, the unmanned vehicle 19may be recalled to the trailer wherein, again, the unmanned vehicle 19navigate substantially autonomously back to the trailer for retrieval.

Interpretation

Wireless:

The invention may be embodied using devices conforming to other networkstandards and for other applications, including, for example other WLANstandards and other wireless standards. Applications that can beaccommodated include IEEE 802.11 wireless LANs and links, and wirelessEthernet.

In the context of this document, the term “wireless” and its derivativesmay be used to describe circuits, devices, systems, methods, techniques,communications channels, etc., that may communicate data through the useof modulated electromagnetic radiation through a non-solid medium. Theterm does not imply that the associated devices do not contain anywires, although in some embodiments they might not. In the context ofthis document, the term “wired” and its derivatives may be used todescribe circuits, devices, systems, methods, techniques, communicationschannels, etc., that may communicate data through the use of modulatedelectromagnetic radiation through a solid medium. The term does notimply that the associated devices are coupled by electrically conductivewires.

Processes:

Unless specifically stated otherwise, as apparent from the followingdiscussions, it is appreciated that throughout the specificationdiscussions utilizing terms such as “processing”, “computing”,“calculating”, “determining”, “analysing” or the like, refer to theaction and/or processes of a computer or computing system, or similarelectronic computing device, that manipulate and/or transform datarepresented as physical, such as electronic, quantities into other datasimilarly represented as physical quantities.

Processor:

In a similar manner, the term “processor” may refer to any device orportion of a device that processes electronic data, e.g., from registersand/or memory to transform that electronic data into other electronicdata that, e.g., may be stored in registers and/or memory. A “computer”or a “computing device” or a “computing machine” or a “computingplatform” may include one or more processors.

The methodologies described herein are, in one embodiment, performableby one or more processors that accept computer-readable (also calledmachine-readable) code containing a set of instructions that whenexecuted by one or more of the processors carry out at least one of themethods described herein. Any processor capable of executing a set ofinstructions (sequential or otherwise) that specify actions to be takenare included. Thus, one example is a typical processing system thatincludes one or more processors. The processing system further mayinclude a memory subsystem including main RAM and/or a static RAM,and/or ROM.

Computer-Readable Medium:

Furthermore, a computer-readable carrier medium may form, or be includedin a computer program product. A computer program product can be storedon a computer usable carrier medium, the computer program productcomprising a computer readable program means for causing a processor toperform a method as described herein.

Networked or Multiple Processors:

In alternative embodiments, the one or more processors operate as astandalone device or may be connected, e.g., networked to otherprocessor(s), in a networked deployment, the one or more processors mayoperate in the capacity of a server or a client machine in server-clientnetwork environment, or as a peer machine in a peer-to-peer ordistributed network environment. The one or more processors may form aweb appliance, a network router, switch or bridge, or any machinecapable of executing a set of instructions (sequential or otherwise)that specify actions to be taken by that machine.

Note that while some diagram(s) only show(s) a single processor and asingle memory that carries the computer-readable code, those in the artwill understand that many of the components described above areincluded, but not explicitly shown or described in order not to obscurethe inventive aspect. For example, while only a single machine isillustrated, the term “machine” shall also be taken to include anycollection of machines that individually or jointly execute a set (ormultiple sets) of instructions to perform any one or more of themethodologies discussed herein.

Additional Embodiments

Thus, one embodiment of each of the methods described herein is in theform of a computer-readable carrier medium carrying a set ofinstructions, e.g., a computer program that are for execution on one ormore processors. Thus, as will be appreciated by those skilled in theart, embodiments of the present invention may be embodied as a method,an apparatus such as a special purpose apparatus, an apparatus such as adata processing system, or a computer-readable carrier medium. Thecomputer-readable carrier medium carries computer readable codeincluding a set of instructions that when executed on one or moreprocessors cause a processor or processors to implement a method.Accordingly, aspects of the present invention may take the form of amethod, an entirely hardware embodiment, an entirely software embodimentor an embodiment combining software and hardware aspects. Furthermore,the present invention may take the form of carrier medium (e.g., acomputer program product on a computer-readable storage medium) carryingcomputer-readable program code embodied in the medium.

Carrier Medium:

The software may further be transmitted or received over a network via anetwork interface device. While the carrier medium is shown in anexample embodiment to be a single medium, the term “carrier medium”should be taken to include a single medium or multiple media (e.g., acentralized or distributed database, and/or associated caches andservers) that store the one or more sets of instructions. The term“carrier medium” shall also be taken to include any medium that iscapable of storing, encoding or carrying a set of instructions forexecution by one or more of the processors and that cause the one ormore processors to perform any one or more of the methodologies of thepresent invention. A carrier medium may take many forms, including butnot limited to, non-volatile media, volatile media, and transmissionmedia.

Implementation:

It will be understood that the steps of methods discussed are performedin one embodiment by an appropriate processor (or processors) of aprocessing (i.e., computer) system executing instructions(computer-readable code) stored in storage. It will also be understoodthat the invention is not limited to any particular implementation orprogramming technique and that the invention may be implemented usingany appropriate techniques for implementing the functionality describedherein. The invention is not limited to any particular programminglanguage or operating system.

Means For Carrying out a Method or Function

Furthermore, some of the embodiments are described herein as a method orcombination of elements of a method that can be implemented by aprocessor of a processor device, computer system, or by other means ofcarrying out the function. Thus, a processor with the necessaryinstructions for carrying out such a method or element of a method formsa means for carrying out the method or element of a method. Furthermore,an element described herein of an apparatus embodiment is an example ofa means for carrying out the function performed by the element for thepurpose of carrying out the invention.

Connected

Similarly, it is to be noticed that the term connected, when used in theclaims, should not be interpreted as being limitative to directconnections only. Thus, the scope of the expression a device A connectedto a device B should not be limited to devices or systems wherein anoutput of device A is directly connected to an input of device B. Itmeans that there exists a path between an output of A and an input of Bwhich may be a path including other devices or means. “Connected” maymean that two or more elements are either in direct physical orelectrical contact, or that two or more elements are not in directcontact with each other but yet still co-operate or interact with eachother.

Embodiments

Reference throughout this specification to “one embodiment” or “anembodiment” means that a particular feature, structure or characteristicdescribed in connection with the embodiment is included in at least oneembodiment of the present invention. Thus, appearances of the phrases“in one embodiment” or “in an embodiment” in various places throughoutthis specification are not necessarily all referring to the sameembodiment, but may. Furthermore, the particular features, structures orcharacteristics may be combined in any suitable manner, as would beapparent to one of ordinary skill in the art from this disclosure, inone or more embodiments.

Similarly it should be appreciated that in the above description ofexample embodiments of the invention, various features of the inventionare sometimes grouped together in a single embodiment, figure, ordescription thereof for the purpose of streamlining the disclosure andaiding in the understanding of one or more of the various inventiveaspects. This method of disclosure, however, is not to be interpreted asreflecting an intention that the claimed invention requires morefeatures than are expressly recited in each claim. Rather, as thefollowing claims reflect, inventive aspects lie in less than allfeatures of a single foregoing disclosed embodiment. Thus, the claimsfollowing the Detailed Description of Specific Embodiments are herebyexpressly incorporated into this Detailed Description of SpecificEmbodiments, with each claim standing on its own as a separateembodiment of this invention.

Furthermore, while some embodiments described herein include some butnot other features included in other embodiments, combinations offeatures of different embodiments are meant to be within the scope ofthe invention, and form different embodiments, as would be understood bythose in the art. For example, in the following claims, any of theclaimed embodiments can be used in any combination.

Different Instances of Objects

As used herein, unless otherwise specified the use of the ordinaladjectives “first”, “second”, “third”, etc., to describe a commonobject, merely indicate that different instances of like objects arebeing referred to, and are not intended to imply that the objects sodescribed must be in a given sequence, either temporally, spatially, inranking, or in any other manner.

Specific Details

In the description provided herein, numerous specific details are setforth. However, it is understood that embodiments of the invention maybe practiced without these specific details. In other instances,well-known methods, structures and techniques have not been shown indetail in order not to obscure an understanding of this description.

Terminology

In describing the preferred embodiment of the invention illustrated inthe drawings, specific terminology will be resorted to for the sake ofclarity. However, the invention is not intended to be limited to thespecific terms so selected, and it is to be understood that eachspecific term includes all technical equivalents which operate in asimilar manner to accomplish a similar technical purpose. Terms such as“forward”, “rearward”, “radially”, “peripherally”, “upwardly”,“downwardly”, and the like are used as words of convenience to providereference points and are not to be construed as limiting terms.

Comprising and Including

In the claims which follow and in the preceding description of theinvention, except where the context requires otherwise due to expresslanguage or necessary implication, the word “comprise” or variationssuch as “comprises” or “comprising” are used in an inclusive sense, i.e.to specify the presence of the stated features but not to preclude thepresence or addition of further features in various embodiments of theinvention.

Any one of the terms: including or which includes or that includes asused herein is also an open term that also means including at least theelements/features that follow the term, but not excluding others. Thus,including is synonymous with and means comprising.

Scope of Invention

Thus, while there has been described what are believed to be thepreferred embodiments of the invention, those skilled in the art willrecognize that other and further modifications may be made theretowithout departing from the spirit of the invention, and it is intendedto claim all such changes and modifications as fall within the scope ofthe invention. For example, any formulas given above are merelyrepresentative of procedures that may be used. Functionality may beadded or deleted from the block diagrams and operations may beinterchanged among functional blocks. Steps may be added or deleted tomethods described within the scope of the present invention.

Although the invention has been described with reference to specificexamples, it will be appreciated by those skilled in the art that theinvention may be embodied in many other forms.

1. An unmanned vehicle for roadside fire management, the unmanned vehicle comprising: a fire suppressant tank for storing fire suppressant; at least one jet fluidly coupled to the tank for dispensing the suppressant; a data interface for receiving control instructions data from a proximate maintenance machine and wherein, in use, the unmanned vehicle is configured for: receiving fire suppressant control instructions from the maintenance machine and spraying fire suppressant from the least one jet accordingly.
 2. The unmanned vehicle as claimed in claim 1, further comprising a level sensor operably coupled to the fire suppressant tank for determining a level of fire suppressant within the tank and wherein the vehicle is further configured for transmitting the level via the data interface to the maintenance machine.
 3. The unmanned vehicle as claimed in claim 1, wherein the at least one jet is configured for creating a protective veil of fire suppressant around the unmanned vehicle.
 4. The unmanned vehicle as claimed in claim 1, wherein the unmanned vehicle is configurable in a following mode wherein the unmanned vehicle follows the maintenance machine and wherein, in the event of a fire, an operator may take over the control of the unmanned vehicle for firefighting.
 5. The unmanned vehicle as claimed in claim 1, wherein the control instructions comprise instructions for controlling the drive motors and steering of the unmanned vehicle.
 6. The unmanned vehicle as claimed in claim 1, wherein the fire suppressant control instructions comprise instructions for controlling the volumetric flow rate of the fire suppressant.
 7. The unmanned vehicle as claimed in claim 1, wherein at least one jet is directional and wherein the fire suppressant control instructions comprise instructions for controlling an angle of the at least one jet.
 8. The unmanned vehicle as claimed in claim 1, wherein the at least one jet comprises a plurality of jets and wherein the fire suppressant control instructions control which of the plurality of jets spray fire suppressant.
 9. The unmanned vehicle as claimed in claim 1, wherein the unmanned vehicle further comprises a fire detection subsystem.
 10. The unmanned vehicle as claimed in claim 9, wherein the fire detection subsystem is configured for detecting a fire by detecting infrared radiation.
 11. The unmanned vehicle as claimed in claim 9, wherein the fire detection subsystem comprises a thermometer.
 12. The unmanned vehicle as claimed in claim 9, wherein the unmanned vehicle is configured for sending an alert to the maintenance machine via the data interface when detecting a fire.
 13. The unmanned vehicle as claimed in claim 9, wherein the unmanned vehicle comprises a vision subsystem configured for transmitting image data via the data interface to the maintenance machine.
 14. The unmanned vehicle as claimed in claim 13, wherein the vision subsystem comprises a thermal imaging camera.
 15. The unmanned vehicle as claimed in claim 9, wherein the unmanned vehicle is configured for automating the spraying of fire suppressant from the at least one jet when the fire detection subsystem detects a fire.
 16. The unmanned vehicle as claimed in claim 9, wherein the fire detection subsystem is configured for sensing infrared radiation around the unmanned vehicle so as to be able to sense a direction of a fire with reference to the unmanned vehicle and wherein the unmanned vehicle is configured for actuating the at least one jet in the direction of the fire.
 17. The unmanned vehicle as claimed in claim 15, wherein the fire detection subsystem is configured for controlling at least one of volumetric flow rate or elevation angle of the at least one jet.
 18. The unmanned vehicle as claimed in claim 9, wherein the unmanned vehicle is configured for entering a fire following and suppression mode when the fire detection subsystem detects a fire, wherein the unmanned vehicle is configured for following a detected fire whilst spraying fire suppressant from the at least one jet.
 19. The unmanned vehicle as claimed in claim 18, wherein, in the fire following and suppression mode, the unmanned vehicle is configured for travelling along a fire front of the fire.
 20. The unmanned vehicle as claimed in claim 19, wherein, in the fire following and suppression mode, the unmanned vehicle is configured for communicating with a further unmanned vehicle such that the unmanned vehicle and the further unmanned vehicle travel in opposite directions along the fire front. 